Proceedings ArticleDOI
An Evolutionary Artificial Potential Field Algorithm for Dynamic Path Planning of Mobile Robot
Cao Qi-xin,Huang Yanwen,Zhou Jingliang +2 more
- pp 3331-3336
TLDR
A new APF method for path-planning of mobile robots in a dynamic environment where the target and obstacles are moving is proposed, and the new force function and the relative threat coefficient function are defined.Abstract:
The artificial potential field (APF) method is widely used for autonomous mobile robot path planning due to its simplicity and mathematical elegance. However, most researches are focused on solving the path-planning problem in a stationary environment, where both targets and obstacles are stationary. This paper proposes a new APF method for path planning of mobile robots in a dynamic environment where the target and obstacles are moving. Firstly, the new force function and the relative threat coefficient function are defined. Then, a new APF path-planning algorithm based on the relative threat coefficient is presented. Finally, computer simulation and experiment are used to demonstrate the effectiveness of the dynamic path-planning scheme.read more
Citations
More filters
Journal ArticleDOI
Research on the Vision Control System for Modular Robot
Jian Bing Tang,Ya Bing Zha +1 more
TL;DR: In this paper, a kind of dynamic vision control system is analyzed and researched roundly, and two kinds of motion patterns for the modular robot are put forward.
Journal ArticleDOI
Design of Dynamic Vision System for Modular Reconfigurable Robots
TL;DR: The dynamic vision system for MRRS will be analyzed and researched roundly, and three control approaches, such as open loop tracking, close loop servo and active vision system, are put forward.
Journal ArticleDOI
An Improved Path Planning Algorithm for Indoor Mobile Robots in Partially-Known Environments
Proceedings ArticleDOI
Towards Understanding and Inferring the Crowd: Guided Second Order Attention Networks and Re-identification for Multi-object Tracking
TL;DR: Guided Second-Order Attention Network (GSAN) as mentioned in this paper uses a supervisory signal based on the quality of the self-learned attention maps to supervise itself to look into the correct regions in the images of the person.
Book ChapterDOI
Compact Internal Representation of Dynamic Environments: Simple Memory Structures for Complex Situations
TL;DR: The structure that emerges, even if not directly related to the insect neurobiology, is quite simple and could enhance the capabilities of the computational model already presented in the previous chapter, in view of its robotic implementation.
References
More filters
Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Book
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Journal ArticleDOI
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Shuzhi Sam Ge,Y. J. Cui +1 more
TL;DR: A new potential field method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving is proposed and the problem of local minima is discussed.
Journal ArticleDOI
New potential functions for mobile robot path planning
Shuzhi Sam Ge,Y.J. Cui +1 more
TL;DR: New repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensures that the goal position is the global minimum of the total potential.
Related Papers (5)
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Shuzhi Sam Ge,Y. J. Cui +1 more